Robot hand with humanoid fingers

Details Robot hand with humanoid fingers Robot hand with humanoid fingers

2009-04-09

2011-11-08

Rodriguez, Saul (Department: 3652)

Handling: hand and hoist-line implements

Grapple

Pivoted jaws

C294S111000, C901S021000, C414S007000

Reexamination Certificate

active

08052185

ABSTRACT:
A robotic hand with finger assemblies to better simulate human hand form factors and gestures. For each finger assembly, the robotic hand includes a finger drive assembly that is operable to selectively apply tension to four elongated and flexible tension elements (e.g., steel cable). Each of the finger assemblies includes a set of links or link members that are actuated or moved by the selective tensioning/movement of the tension elements by the drive assembly. The links are interconnected with pivotal joints such that they have three degrees-of-freedom, and the finger assembly includes a set of pulleys that are supported on the links and that are arranged to provide support and to guide the tension elements through the finger assembly. The tension elements preferably extend only partially about any one of the pulleys, whereby the finger assembly utilizes “n+1” actuation with non-helical wrapping of the tension elements.

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